Data Sheet

UM7 DATASHEET
Rev. 1.6 – Released 1/10/2016
64
DATA REGISTERS
DREG_HEALTH – 0x55 (85)
SUMMARY
The health register reports the current status of the GPS module and the other sensors on the
UM7. Monitoring the health register is the easiest way to monitor the quality of the GPS lock
and to watch for other problems that could affect the behavior of the UM7.
REGISTER CONTENTS
B3
B2
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
SATS_USED
HDOP
B1
B0
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
SATS_IN_VIEW
RES
OVF
RES
MG_N
ACC_N
ACCEL
GYRO
MAG
GPS
DESCRIPTION
Bits
Name
Description
31:26
SATS_USED
Reports the number of satellites used in the position
solution.
25:16
HDOP
Reports the horizontal dilution of precision (HDOP) reported
by the GPS. The actual HDOP value is equal to the contents
of the HDOP bits divided by 10.
15:10
SATS_IN_VIEW
Reports the number of satellites in view.
9
RES
This bit is reserved.
8
OVF
Overflow bit. This bit is set if the UM7 is attempting to
transmit data over the serial port faster than is allowed
given the baud-rate. If this bit is set, reduce broadcast rates
in the COM_RATES registers.
7:6
RES
These bits are reserved.
5
MG_N
This bit is set if the sensor detects that the norm of the
magnetometer measurement is too far away from 1.0 to be